Robot Knowledge Update in Dynamic Environments using Dependable Knowledge Instantiation Method

강인한 지식 등록 방법을 통한 동적 환경에서의 로봇 지식 갱신

Incomplete knowledge instances may be registered from misidentifications of sensors, such as vision sensor. In previous study, we proposed robust object instance registration method to robot centered knowledge framework to guarantee the consistency of the registered knowledge. In real environment, a persistent update is necessary due to the objects can be moved dynamically. In this paper, we propose the way to update robot knowledge continually using the registration method. Our experiment in this paper shows that sound and complete knowledge can be registered and updated by the proposed method, even under imperfect sensing data.